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idex_modes: COPY and MIRROR mode implementation (#6297)

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COPY and MIRROR mode implementation

Correctly apply input shaper params to new dual_carriage

Added SAVE_/RESTORE_IDEX_STATE commands

Documentation updates for the new IDEX modes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-08-01 18:23:52 +02:00
committed by GitHub
parent ea330717cd
commit 36be1cfc51
14 changed files with 458 additions and 250 deletions
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36
docs/Resonance_Compensation.md
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@@ -418,18 +418,34 @@ if necessary.
### Is dual carriage setup supported with input shapers?
There is no dedicated support for dual carriages with input shapers, but it does
not mean this setup will not work. One should run the tuning twice for each
of the carriages, and calculate the ringing frequencies for X and Y axes for
each of the carriages independently. Then put the values for carriage 0 into
[input_shaper] section, and change the values on the fly when changing
carriages, e.g. as a part of some macro:
```
SET_DUAL_CARRIAGE CARRIAGE=1
SET_INPUT_SHAPER SHAPER_FREQ_X=... SHAPER_FREQ_Y=...
Yes. In this case, one should measure the resonances twice for each carriage.
For example, if the second (dual) carriage is installed on X axis, it is
possible to set different input shapers for X axis for the primary and dual
carriages. However, the input shaper for Y axis should be the same for both
carriages (as ultimately this axis is driven by one or more stepper motors each
commanded to perform exactly the same steps). One possibility to configure
the input shaper for such setups is to keep `[input_shaper]` section empty and
additionally define a `[delayed_gcode]` section in the `printer.cfg` as follows:
```
[input_shaper]
# Intentionally empty
And similarly when switching back to carriage 0.
[delayed_gcode init_shaper]
initial_duration: 0.1
gcode:
SET_DUAL_CARRIAGE CARRIAGE=1
SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_shaper> SHAPER_FREQ_X=<dual_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
SET_DUAL_CARRIAGE CARRIAGE=0
SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
```
Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` should be the same in both
commands. It is also possible to put a similar snippet into the start g-code
in the slicer, however then the shaper will not be enabled until any print
is started.
Note that the input shaper only needs to be configured once. Subsequent changes
of the carriages or their modes via `SET_DUAL_CARRIAGE` command will preserve
the configured input shaper parameters.
### Does input_shaper affect print time?